PhD offer "Multi-Robot Planning with Spatial Constraints for Coverage Tasks" (INRIA/INSA Lyon, France)

Outline

PhD title: Multi-Robot Planning with Spatial Constraints for Coverage Tasks

Laboratory: CITI – INRIA & INSA Lyon, France.

Team : CHROMA https://team.inria.fr/chroma/en/

Supervisors : Olivier Simonin, Prof., Christine Solnon, Prof.

This PhD thesis is funded by the european project BugWright2 (2020-2024), which aims to deploy autonomous robots for ship hull inspection and cleaning. The subject concerns the magnetic-wheeled crawlers operating on the surface of the structure. These robots communicate with a control station and are powered by a cable. It is nonetheless a constraint for the robot's movement, and an obstacle for the other robots. The thesis aims to model all the constraints and to define algorithms for planning the trajectory of the robots so that they achieve full coverage of the hull in minimum time. As any robotic system, the execution of the plan can be disrupted by hazards, preventing its success. Thus, we will seek to produce robust plans, but also to adapt these plans online.

Details in the attached file.

What is funded

Grant : INSA doctoral contract (funded by the european project BugWright2). Possibility of complement in case of teaching at INSA Lyon.

Duration

3 years. Starting date: September or October 1st, 2020.

Eligibility

The candidate will have a Master 2 level or equivalent, in computer science, AI or robotics. Experience in planning, constraint programming, or optimization will be a plus.

Candidates can send their application by e-mail to olivier.simonin@insa-lyon.fr and christine.solnon@insa-lyon.fr, including the following elements: CV, Cover letter,  Transcript of records of Master degree or Engineering school.